add some unit tests for SteadyTime

ros · Mar 8, 2017 · 3126a28 · 3126a28
1 parent 426fc3f
commit 3126a28
Showing 1 changed file with 24 additions and 0 deletions.
diff --git a/rostime/test/time.cpp b/rostime/test/time.cpp
@@ -480,6 +480,30 @@ TEST(WallRate, constructFromDuration){
 ///////////////////////////////////////////////////////////////////////////////////
 
 
+///////////////////////////////////////////////////////////////////////////////////
+// SteadyTime/WallDuration
+///////////////////////////////////////////////////////////////////////////////////
+
+TEST(SteadyTime, sleep){
+ SteadyTime start = SteadyTime::now();
+ WallDuration d(2.0);
+ bool rc = d.sleep();
+ SteadyTime end = SteadyTime::now();
+
+ ASSERT_GT(end - start, d);
+ ASSERT_TRUE(rc);
+}
+
+TEST(SteadyTime, sleepUntil){
+ SteadyTime start = SteadyTime::now();
+ SteadyTime end = start + WallDuration(2.0);
+ bool rc = SteadyTime::sleepUntil(end);
+ SteadyTime finished = SteadyTime::now();
+
+ ASSERT_GT(finished, end);
+ ASSERT_TRUE(rc);
+}
+
 int main(int argc, char **argv){
  testing::InitGoogleTest(&argc, argv);
  ros::Time::init();